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<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pub-static-methods">静态 Public 成员函数</a> &#124;
<a href="#pub-attribs">Public 属性</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pri-methods">Private 成员函数</a> &#124;
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<a href="classpcl_1_1on__nurbs_1_1_fitting_sphere-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::on_nurbs::FittingSphere类 参考</div>  </div>
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<p>Fitting a cylindric (dim 0 clamped, dim 1 periodic) B-Spline surface to 3D point-clouds using point-distance-minimization Based on paper: TODO  
 <a href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="fitting__sphere__pdm_8h_source.html">fitting_sphere_pdm.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a549fcd1595a18613022c0251c5513b3f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a549fcd1595a18613022c0251c5513b3f">FittingSphere</a> (int order, <a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_surface.html">NurbsDataSurface</a> *data)</td></tr>
<tr class="memdesc:a549fcd1595a18613022c0251c5513b3f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor initializing B-Spline surface using initNurbsPCACylinder(...).  <a href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a549fcd1595a18613022c0251c5513b3f">更多...</a><br /></td></tr>
<tr class="separator:a549fcd1595a18613022c0251c5513b3f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8ae3540f1951a847a07265b4bcacc1fd"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a8ae3540f1951a847a07265b4bcacc1fd">FittingSphere</a> (<a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_surface.html">NurbsDataSurface</a> *data, const <a class="el" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;ns)</td></tr>
<tr class="memdesc:a8ae3540f1951a847a07265b4bcacc1fd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor initializing with the B-Spline surface given in argument 2.  <a href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a8ae3540f1951a847a07265b4bcacc1fd">更多...</a><br /></td></tr>
<tr class="separator:a8ae3540f1951a847a07265b4bcacc1fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a80683c80aa120277d1536cdc0897c7c2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a80683c80aa120277d1536cdc0897c7c2">assemble</a> (double smoothness=0.000001f)</td></tr>
<tr class="memdesc:a80683c80aa120277d1536cdc0897c7c2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assemble the system of equations for fitting  <a href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a80683c80aa120277d1536cdc0897c7c2">更多...</a><br /></td></tr>
<tr class="separator:a80683c80aa120277d1536cdc0897c7c2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1b0d2718e338887c06be164211dab950"><td class="memItemLeft" align="right" valign="top"><a id="a1b0d2718e338887c06be164211dab950"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a1b0d2718e338887c06be164211dab950">solve</a> (double damp=1.0)</td></tr>
<tr class="memdesc:a1b0d2718e338887c06be164211dab950"><td class="mdescLeft">&#160;</td><td class="mdescRight">Solve system of equations using Eigen or UmfPack (can be defined in on_nurbs.cmake), and updates B-Spline surface if a solution can be obtained. <br /></td></tr>
<tr class="separator:a1b0d2718e338887c06be164211dab950"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad010f247a7503d7d7a2f5821b5ed626d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#ad010f247a7503d7d7a2f5821b5ed626d">updateSurf</a> (double damp)</td></tr>
<tr class="memdesc:ad010f247a7503d7d7a2f5821b5ed626d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update surface according to the current system of equations.  <a href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#ad010f247a7503d7d7a2f5821b5ed626d">更多...</a><br /></td></tr>
<tr class="separator:ad010f247a7503d7d7a2f5821b5ed626d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a59520071cc6c86c5ce0cce8f0e52ff25"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a59520071cc6c86c5ce0cce8f0e52ff25">setInvMapParams</a> (int in_max_steps, double invMapInt_accuracy)</td></tr>
<tr class="memdesc:a59520071cc6c86c5ce0cce8f0e52ff25"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set parameters for inverse mapping  <a href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a59520071cc6c86c5ce0cce8f0e52ff25">更多...</a><br /></td></tr>
<tr class="separator:a59520071cc6c86c5ce0cce8f0e52ff25"><td class="memSeparator" colspan="2">&#160;</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setQuiet</b> (bool val)</td></tr>
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静态 Public 成员函数</h2></td></tr>
<tr class="memitem:abd2a9a5401b67aacd689262d511e1ee4"><td class="memItemLeft" align="right" valign="top"><a id="abd2a9a5401b67aacd689262d511e1ee4"></a>
static <a class="el" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#abd2a9a5401b67aacd689262d511e1ee4">initNurbsSphere</a> (int order, <a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_surface.html">NurbsDataSurface</a> *data, Eigen::Vector3d pole_axis=Eigen::Vector3d(0.0, 0.0, 1.0))</td></tr>
<tr class="memdesc:abd2a9a5401b67aacd689262d511e1ee4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializing a cylindric B-Spline surface using principal-component-analysis and eigen values <br /></td></tr>
<tr class="separator:abd2a9a5401b67aacd689262d511e1ee4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aea780ae078ec1bab62d454653056e243"><td class="memItemLeft" align="right" valign="top"><a id="aea780ae078ec1bab62d454653056e243"></a>
static std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#aea780ae078ec1bab62d454653056e243">getElementVector</a> (const <a class="el" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;nurbs, int dim)</td></tr>
<tr class="memdesc:aea780ae078ec1bab62d454653056e243"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the elements of a cylindric B-Spline surface. <br /></td></tr>
<tr class="separator:aea780ae078ec1bab62d454653056e243"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5cd17d6ac3e9ea84f6ef889f7b528af2"><td class="memItemLeft" align="right" valign="top">static Eigen::Vector2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a5cd17d6ac3e9ea84f6ef889f7b528af2">inverseMapping</a> (const <a class="el" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;nurbs, const Eigen::Vector3d &amp;pt, const Eigen::Vector2d &amp;hint, double &amp;error, Eigen::Vector3d &amp;p, Eigen::Vector3d &amp;tu, Eigen::Vector3d &amp;tv, int maxSteps=100, double accuracy=1e-6, bool quiet=true)</td></tr>
<tr class="memdesc:a5cd17d6ac3e9ea84f6ef889f7b528af2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Inverse mapping / point inversion: Given a point pt, this function finds the closest point on the B-Spline surface using Newtons method and point-distance (L2-, Euclidean norm).  <a href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a5cd17d6ac3e9ea84f6ef889f7b528af2">更多...</a><br /></td></tr>
<tr class="separator:a5cd17d6ac3e9ea84f6ef889f7b528af2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a544e28149755baa8415572729126011d"><td class="memItemLeft" align="right" valign="top">static Eigen::Vector2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a544e28149755baa8415572729126011d">findClosestElementMidPoint</a> (const <a class="el" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;nurbs, const Eigen::Vector3d &amp;pt)</td></tr>
<tr class="memdesc:a544e28149755baa8415572729126011d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given a point pt, the function finds the closest midpoint of the elements of the surface.  <a href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a544e28149755baa8415572729126011d">更多...</a><br /></td></tr>
<tr class="separator:a544e28149755baa8415572729126011d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public 属性</h2></td></tr>
<tr class="memitem:ad0a6295341f4066af4366d868520a9e3"><td class="memItemLeft" align="right" valign="top"><a id="ad0a6295341f4066af4366d868520a9e3"></a>
<a class="el" href="class_o_n___text_log.html">ON_TextLog</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_out</b></td></tr>
<tr class="separator:ad0a6295341f4066af4366d868520a9e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae54387ddcb460a2be0212ce02b52d426"><td class="memItemLeft" align="right" valign="top"><a id="ae54387ddcb460a2be0212ce02b52d426"></a>
<a class="el" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_nurbs</b></td></tr>
<tr class="separator:ae54387ddcb460a2be0212ce02b52d426"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6f3d0888cbeadaccd14c5f68aa8665ff"><td class="memItemLeft" align="right" valign="top"><a id="a6f3d0888cbeadaccd14c5f68aa8665ff"></a>
<a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_surface.html">NurbsDataSurface</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>m_data</b></td></tr>
<tr class="separator:a6f3d0888cbeadaccd14c5f68aa8665ff"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:ad71c10045943a889526362ecd0e227a7"><td class="memItemLeft" align="right" valign="top"><a id="ad71c10045943a889526362ecd0e227a7"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#ad71c10045943a889526362ecd0e227a7">init</a> ()</td></tr>
<tr class="memdesc:ad71c10045943a889526362ecd0e227a7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialisation of member variables <br /></td></tr>
<tr class="separator:ad71c10045943a889526362ecd0e227a7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a74f26f1df119a2d8d4d532bc994dd9f0"><td class="memItemLeft" align="right" valign="top"><a id="a74f26f1df119a2d8d4d532bc994dd9f0"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a74f26f1df119a2d8d4d532bc994dd9f0">assembleInterior</a> (double wInt, unsigned &amp;row)</td></tr>
<tr class="memdesc:a74f26f1df119a2d8d4d532bc994dd9f0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assemble point-to-surface constraints for interior points. <br /></td></tr>
<tr class="separator:a74f26f1df119a2d8d4d532bc994dd9f0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6572f0072fe2ed6eae64e5c3761d52ca"><td class="memItemLeft" align="right" valign="top"><a id="a6572f0072fe2ed6eae64e5c3761d52ca"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a6572f0072fe2ed6eae64e5c3761d52ca">addPointConstraint</a> (const Eigen::Vector2d &amp;params, const Eigen::Vector3d &amp;point, double weight, unsigned &amp;row)</td></tr>
<tr class="memdesc:a6572f0072fe2ed6eae64e5c3761d52ca"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add minimization constraint: point-to-surface distance (point-distance-minimization). <br /></td></tr>
<tr class="separator:a6572f0072fe2ed6eae64e5c3761d52ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a666273c81df43c4601d5e8e02fa7caec"><td class="memItemLeft" align="right" valign="top"><a id="a666273c81df43c4601d5e8e02fa7caec"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a666273c81df43c4601d5e8e02fa7caec">addCageInteriorRegularisation</a> (double weight, unsigned &amp;row)</td></tr>
<tr class="memdesc:a666273c81df43c4601d5e8e02fa7caec"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add minimization constraint: interior smoothness by control point regularisation. <br /></td></tr>
<tr class="separator:a666273c81df43c4601d5e8e02fa7caec"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad578fa20b2db6f3c904def9d7ad4908d"><td class="memItemLeft" align="right" valign="top"><a id="ad578fa20b2db6f3c904def9d7ad4908d"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#ad578fa20b2db6f3c904def9d7ad4908d">addCageBoundaryRegularisation</a> (double weight, int side, unsigned &amp;row)</td></tr>
<tr class="memdesc:ad578fa20b2db6f3c904def9d7ad4908d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add minimization constraint: corner smoothness by control point regularisation. <br /></td></tr>
<tr class="separator:ad578fa20b2db6f3c904def9d7ad4908d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Private 成员函数</h2></td></tr>
<tr class="memitem:ac24aa6b6fc9b24d6fe61023588c69a8a"><td class="memItemLeft" align="right" valign="top"><a id="ac24aa6b6fc9b24d6fe61023588c69a8a"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>grc2gl</b> (int I, int J)</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>lrc2gl</b> (int E, int F, int i, int j)</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>gl2gr</b> (int A)</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>gl2gc</b> (int A)</td></tr>
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Private 属性</h2></td></tr>
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<a class="el" href="classpcl_1_1on__nurbs_1_1_nurbs_solve.html">NurbsSolve</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_solver</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>m_quiet</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>in_max_steps</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>in_accuracy</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p>Fitting a cylindric (dim 0 clamped, dim 1 periodic) B-Spline surface to 3D point-clouds using point-distance-minimization Based on paper: TODO </p>
<dl class="section author"><dt>作者</dt><dd>Thomas Mörwald &lt;&gt; </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a549fcd1595a18613022c0251c5513b3f">&#9670;&nbsp;</a></span>FittingSphere() <span class="overload">[1/2]</span></h2>

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          <td class="memname">pcl::on_nurbs::FittingSphere::FittingSphere </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>order</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_surface.html">NurbsDataSurface</a> *&#160;</td>
          <td class="paramname"><em>data</em>&#160;</td>
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          <td>)</td>
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<p>Constructor initializing B-Spline surface using initNurbsPCACylinder(...). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">order</td><td>the polynomial order of the B-Spline surface. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">data</td><td>pointer to the 2D point-cloud data to be fit. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">z</td><td>vector defining front face of surface. <br  />
 </td></tr>
  </table>
  </dd>
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<h2 class="memtitle"><span class="permalink"><a href="#a8ae3540f1951a847a07265b4bcacc1fd">&#9670;&nbsp;</a></span>FittingSphere() <span class="overload">[2/2]</span></h2>

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          <td class="memname">pcl::on_nurbs::FittingSphere::FittingSphere </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structpcl_1_1on__nurbs_1_1_nurbs_data_surface.html">NurbsDataSurface</a> *&#160;</td>
          <td class="paramname"><em>data</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;&#160;</td>
          <td class="paramname"><em>ns</em>&#160;</td>
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<p>Constructor initializing with the B-Spline surface given in argument 2. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">data</td><td>pointer to the 3D point-cloud data to be fit. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">ns</td><td>B-Spline surface used for fitting. <br  />
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  </dd>
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<h2 class="groupheader">成员函数说明</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a80683c80aa120277d1536cdc0897c7c2">&#9670;&nbsp;</a></span>assemble()</h2>

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          <td class="memname">void pcl::on_nurbs::FittingSphere::assemble </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>smoothness</em> = <code>0.000001f</code></td><td>)</td>
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<p>Assemble the system of equations for fitting </p>
<ul>
<li>for large point-clouds this is time consuming.</li>
<li>should be done once before refinement to initialize the starting points for point inversion. </li>
</ul>

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<h2 class="memtitle"><span class="permalink"><a href="#a544e28149755baa8415572729126011d">&#9670;&nbsp;</a></span>findClosestElementMidPoint()</h2>

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          <td class="memname">static Eigen::Vector2d pcl::on_nurbs::FittingSphere::findClosestElementMidPoint </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;&#160;</td>
          <td class="paramname"><em>nurbs</em>, </td>
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          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>pt</em>&#160;</td>
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<p>Given a point pt, the function finds the closest midpoint of the elements of the surface. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">nurbs</td><td>the B-Spline surface. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">pt</td><td>the point to which the closest midpoint of the elements will be computed. return closest midpoint in parametric domain. </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a5cd17d6ac3e9ea84f6ef889f7b528af2">&#9670;&nbsp;</a></span>inverseMapping()</h2>

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          <td class="memname">static Eigen::Vector2d pcl::on_nurbs::FittingSphere::inverseMapping </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;&#160;</td>
          <td class="paramname"><em>nurbs</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>pt</em>, </td>
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          <td class="paramtype">const Eigen::Vector2d &amp;&#160;</td>
          <td class="paramname"><em>hint</em>, </td>
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          <td class="paramtype">double &amp;&#160;</td>
          <td class="paramname"><em>error</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>p</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>tu</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>tv</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>maxSteps</em> = <code>100</code>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>accuracy</em> = <code>1e-6</code>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>quiet</em> = <code>true</code>&#160;</td>
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          <td>)</td>
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<p>Inverse mapping / point inversion: Given a point pt, this function finds the closest point on the B-Spline surface using Newtons method and point-distance (L2-, Euclidean norm). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">nurbs</td><td>the B-Spline surface. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">pt</td><td>the point to which the closest point on the surface will be computed. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">hint</td><td>the starting point in parametric domain (warning: may lead to convergence at local minima). </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">error</td><td>the distance between the point pt and p after convergence. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">p</td><td>closest boundary point on surface. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">tu</td><td>the tangent vector at point p in u-direction. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">tv</td><td>the tangent vector at point p in v-direction. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">maxSteps</td><td>maximum number of iterations. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">accuracy</td><td>convergence criteria: if error is lower than accuracy the function returns </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>closest point on surface in parametric domain. </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a59520071cc6c86c5ce0cce8f0e52ff25">&#9670;&nbsp;</a></span>setInvMapParams()</h2>

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          <td class="memname">void pcl::on_nurbs::FittingSphere::setInvMapParams </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>in_max_steps</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>invMapInt_accuracy</em>&#160;</td>
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          <td></td>
          <td>)</td>
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<p>Set parameters for inverse mapping </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">in_max_steps</td><td>maximum number of iterations. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">in_accuracy</td><td>stops iteration if specified accuracy is reached. </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ad010f247a7503d7d7a2f5821b5ed626d">&#9670;&nbsp;</a></span>updateSurf()</h2>

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          <td class="memname">void pcl::on_nurbs::FittingSphere::updateSurf </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>damp</em></td><td>)</td>
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<p>Update surface according to the current system of equations. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">damp</td><td>damping factor from one iteration to the other. </td></tr>
  </table>
  </dd>
</dl>

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<hr/>该类的文档由以下文件生成:<ul>
<li>surface/include/pcl/surface/on_nurbs/<a class="el" href="fitting__sphere__pdm_8h_source.html">fitting_sphere_pdm.h</a></li>
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